Robust adaptive formation control of underactuated autonomous surface vehicles with uncertain dynamics

IET Control Theory and Applications

Volumn 5, Issue 12, 2011, Pages 1378-1387

  Peng, Z ^a   Wang, D ^a   Hu, X ^b  

^a DALIAN MARITIME UNIVERSITY   (China)

^b Liaoning Entry Exit Inspection and Quarantine Bureau   (China)

Author keywords

[No Author keywords available]

Indexed keywords

CENTRIPETAL FORCE; CONTROL IMPLEMENTATION; CONTROL LAWS; CORIOLIS; FORMATION CONTROL; HYDRODYNAMIC DAMPING; LEADER-FOLLOWER FORMATIONS; LINE-OF-SIGHT RANGES; LOCAL DYNAMICS; LOCAL SENSORS; LYAPUNOV SYNTHESIS; NEIGHBOURHOOD; NETWORK-BASED CONTROL; ROBUST ADAPTIVE; SIMULATION RESULT; SURFACE VEHICLES; TRACKING ERRORS; UNCERTAIN DYNAMICS; UNDERACTUATED;

DYNAMICS; HYDRODYNAMICS; NEURAL NETWORKS;

ADAPTIVE CONTROL SYSTEMS;

EID: 80052004382     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2010.0429     Document Type: Article

References (42)

1. Reynolds, C.W.: ' Flocks, herds and schools: a distributed behavioral model ', Comput. Graph., 1987, 21, (4), p. 25-34 10.1145/37402.37406
2. Couzin, I.D., Krause, J., James, R., Ruxton, G.D., and Franks, N.R.: ' Collective memory and spatial sorting in animal groups ', J. Theor. Biol., 2002, 218, p. 1-11 10.1006/jtbi.2002.3065 (Pubitemid 35217564)
3. Das, A., Fierro, R., Kumar, V., Ostrowski, J., Spletzer, J., and Taylor, C.: ' A vision-based formation control framework ', IEEE Trans. Robot. Autom., 2002, 18, p. 813-825 10.1109/TRA.2002.803463 1042-296X
4. Luca, C., Fabio, M., Domenico, P., and Mario, T.: ' Leader-follower formation control of nonholonomic mobile robots with input constraints ', Automatica, 2008, 44, p. 1343-1349 10.1016/j.automatica.2007.09.019 0005-1098
5. Mariottini, G.L., Morbidi, F., and Prattichizzo, D.: et al. ' Vision-based localization for leader-follower formation control ', IEEE Trans. Robot., 2009, 25, (6), p. 1431-1438 10.1109/TRO.2009.2032975 1552-3098
6. Dierks, T., and Jagannathan, S.: ' Neural network output feedback control of robot formations ', IEEE Trans. Syst. Man Cybern. B, Cybern., 2010, 40, (2), p. 383-399 10.1109/TSMCB.2009.2025508 1083-4419
7. Choi, K., Yoo, S.J., Park, J.B., and Choi, Y.H.: ' Adaptive formation control in absence of leader's velocity information ', IET Control Theory Appl., 2010, 4, (4), p. 521-528 10.1049/iet-cta.2009.0074
8. Fahimi, F.: ' Sliding mode formation control for under-actuated autonomous surface vehicle ', Proc. American Control Conf., 2006, p. 4255-4260 (Pubitemid 46531487)
9. Breivik, M., Hovstein, V.E., and Fossen, T.I.: ' Ship formation control: a guided leader-follower approach ', IFAC World Congress, 2008
10. Beard, R., Lawton, J., and Hadaegh, F.: ' A coordination architecture for spacecraft formation control ', IEEE Trans. Control Syst. Technol., 2001, 9, (6), p. 777-790 10.1109/87.960341 1063-6536 (Pubitemid 33106212)
11. Balch, T., and Arkin, R.C.: ' Behavior-based formation control for multirobot teams ', IEEE Trans. Robot. Autom., 1999, 14, (6), p. 926-939 10.1109/70.736776 1042-296X
12. Arrichiello, F., Chiaverini, S., and Fossen, T.I.: ' Formation control of underactuated surface vessels using the Null-Space-Based behavioral control ', Int. Conf. Intelligent Robots and Systems, 2006, p. 5942-5947 (Pubitemid 46928039)
13. Fax, J.A., and Murray, R.M.: ' Information flow and cooperative control of vehicle formations ', IEEE Trans. Autom. Control, 2004, 49, p. 1465-1476 10.1109/TAC.2004.834433 0018-9286
14. Jadbabaie, A., Lin, J., and Morse, A.S.: ' Coordination of groups of mobile autonomous agents using nearest neighbor rules ', IEEE Trans. Autom. Control, 2004, 48, p. 988-1001 10.1109/TAC.2003.812781 0018-9286
15. Lafferriere, G., Williams, A., Caughman, J., and Veerman, J.J.P.: ' Decentralized control of vehicle formations ', Syst. Control Lett., 2005, 54, p. 899-910 10.1016/j.sysconle.2005.02.004 0167-6911 (Pubitemid 40915154)
16. Ren, W.: ' Consensus strategies for cooperative control of vehicle formations ', IET Control Theory Appl., 2007, 1, (2), p. 505-512 10.1049/iet-cta:20050401 (Pubitemid 46363135)
17. Børhaug, E., Ghabcheloo, R., Pavlov, A., Pettersen, K.Y., Pascoal, A., and Silvestre, C.: ' Formation control of underactuated marine vehicles with communication constraints ', Proc. Seventh IFAC Conf. on Maneouvring and Control of Marine Craft, 2006
18. Ihle, I.F., Arcak, M., and Fossen, T.I.: ' Passivity-based designs for synchronized path following ', Automatica, 2007, 3, p. 1508-1518 10.1016/j.automatica.2007.02.018 0005-1098 (Pubitemid 47198214)
19. Almeida, J., Silvestre, C., and Pascoal, A.: ' Coordinated control of multiple vehicles with discrete-time periodic communication ', Decis. Control, 2007, p. 2888-2893 (Pubitemid 351277594)
20. Leonard, N.E., and Fiorelli, E.: ' Virtual leader, artificial potentials and coordinated control of groups ', IEEE Conf. Decision and Control, 2001, p. 2968-2973 (Pubitemid 34139418)
21. Gazi, V., and Ordóñez, R.: ' Target tracking using artificial potentials and sliding mode control ', Int. J. Control, 2007, 80, (10), p. 1626-1635 10.1080/00207170701455307 0020-7179 (Pubitemid 47460768)
22. Do, K.D.: ' Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges ', Robot. Auton. Syst., 2009, 57, (1), p. 34-47 10.1016/j.robot.2008.03.006 0921-8890
23. Skjetne, R., Moi, S., and Fossen, T.I.: ' Nonlinear formation control of marine vessel ', Decis. Control, 2002, 2, p. 1699-1704
24. Tee, K.P., and Ge, S.Z.: ' Control of fully actuated ocean surface vessels using a class of feedforward approximators ', IEEE Trans. Control Syst. Technol., 2007, 14, (4), p. 750-756 10.1109/TCST.2006.872507 1063-6536
25. Polycarpou, M.M.: ' Stable adaptive neural control scheme for nonlinear system ', IEEE Trans. Autom. Control, 1996, 41, (3), p. 447-451 10.1109/9.486648 0018-9286 (Pubitemid 126767899)
26. Lewis, F.L., Yesildirek, A., and Liu, K.: ' Multilayer neural-net robot controller with guaranteed tracking performance ', IEEE Trans. Neural Netw., 1996, 7, (2), p. 388-399 10.1109/72.485674 1045-9227 (Pubitemid 126774431)
27. Hovakimyan, N., Nardi, F., Calise, A., and Kim, N.: ' Adaptive output feedback control of uncertain systems using hidden layer neural networks ', IEEE Trans. Neural Netw., 2002, 13, p. 1420-1431 10.1109/TNN.2002.804289 1045-9227 (Pubitemid 35428529)
28. Wang, D., and Huang, J.: ' Adaptive neural network control for a class of uncertain nonlinear systems in pure-feedback form ', Automatica, 2002, 45, p. 1365-1372 10.1016/S0005-1098(02)00034-1 0005-1098 (Pubitemid 34623687)
29. Wang, D., and Huang, J.: ' Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form ', IEEE Trans. Neural Netw., 2005, 6, (1), p. 195-202 10.1109/TNN.2004.839354 1045-9227 (Pubitemid 40241920)
30. Ordóñez, R.: ' On-line approximation based control of nonlinear systems ', (The Ohio State University, 1999)
31. Farrell, J.A., and Polycarpou, M.M.: ' Adaptive approximation based control: unifying neural, fuzzy, and traditional adaptive approximation approaches ', (Wiley-Interscience, Hoboken, NJ, USA, 2006)
32. Peng, Z.H., Wang, D., Lan, W.Y., Li, X.Q., and Sun, G.: ' Robust adaptive formation control with autonomous surface vehicles ', Chinese Control Conf., 2010, p. 2115-2120
33. Peng, Z.H., Wang, D., Yao, Y.B., Lan, W.Y., Li, X.Q., and Sun, G.: ' Filtering robust adaptive formation guidance of unmanned surface vehicles with uncertain leader dynamics ', Int. Conf. Intelligent control and Information Processing, 2010, p. 143-148
34. Fossen, T.I.: ' Marine control system: guidance, navigation and control of ships, rigs and underwater vehicles ', (Marine Cybernetics, Trondheim, Norway, 2002)
35. Do, K.D., and Pan, J.: ' Global robust adaptive path following of underactuated ships ', Automatica, 2006, 42, (10), p. 1713-1722 10.1016/j.automatica.2006.04.026 0005-1098 (Pubitemid 44277961)
36. Li, J.H., Lee, P.M., Jun, B.H., and Lim, Y.K.: ' Point-to-Point navigation of underactuated ships ', Automatica, 2008, 44, (12), p. 3201-3205 10.1016/j.automatica.2008.08.003 0005-1098
37. Hornik, K.: ' Approximation capabilities of multilayer feedforward networks ', Neural Netw., 1991, 4, p. 251-257 10.1016/0893-6080(91)90009-T 0893-6080
38. Krstic, M., Kanellakopoulos, I., and Kokotovic, P.: ' Nonlinear and adaptive control design ', (Wiley, New York, 1995)
39. Ge, S.Z., and Wang, C.: ' Adaptive neural control of uncertain MIMO nonlinear systems ', IEEE Trans. Neural Netw., 2004, 15, (3), p. 674-692 10.1109/TNN.2004.826130 1045-9227
40. Chen, W.S.: ' Adaptive backstepping dynamic surface control for systems with periodic disturbances using neural networks ', IET Control Theory Appl., 2009, 3, (10), p. 1383-1394 10.1049/iet-cta.2008.0322
41. Farrell, J.A., Polycarpou, M., Sharma, M., and Dong, W.J.: ' Command filtered backstepping ', IEEE Trans. Autom. Control, 2009, 54, (6), p. 1391-1395 10.1109/TAC.2009.2015562 0018-9286
42. Sattiger, R., and Calise, A.J.: ' An adaptive vision-based approach to decentralized formation control ', AIAA Guidance, Navigation and Control Conf. and Exhibit, 2004, p. 2004-5252, AIAA